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Safety
Safety Functions
A Zero force level
B Hysteresis
Note!
In some situations it is possible to force a false detection of a collision. This can occur if the
column is affected by a pressure at the time the movement starts. This could be for example
the case if the collimator rests on the Table, when the operator moves the column upward, a
collision is detected.
The reason for the collision detection is that, when the movement starts, the zero force level
is calculated based on the actual pressure affecting the column at that moment. As soon as
the movement starts and the collimator is no longer resting on the Table, the guard plate
catch a change in pressure and a collision is detected.
To solve the problem the operator must affect pressure on the column, for example manually
pull the column up or down. The System will take this as a sign that the operator has re-
moved the obstacle and that no collision exists any more. If the problem is yet not solved, the
System must be restarted.
2.10.3.3 Motor Nodes
Every motor node has collision detection on its own movement. A collision can be detected
in different ways, for instance if the control error in the motor node's regulator is too large, if
the final position is not reached in time, or if the position transducer has not moved although
the drive unit had an output voltage for a given time.
A detected collision stops all movements in that part of the System (e.g. OTC, Table or Wall
stand) where the collision is detected. An error message is displayed.
2.10.3.4 Malfunctioning Node
If any node stops functioning, all movements are stopped and the power to the motors in the
System is removed.
2.10.4 Quick Abortion of an Auto Positioning
When any of the buttons on the stand, is pressed while the stand is moving towards its posi-
tion, it has the same effect as when the servo button is released, which means that all move-
ments are stopped.
OMNERA®
B
C
D
B
Fig. 2-13 Collision detection
C Upper trig level
D Lower trig level
0073-095-418-EN Rev. 5.1
Page 28
A
Operator´s Manual
2020-09-25
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